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<div class="title">sac_model_sphere.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/model_types.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_sphere.html">   60</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html">SampleConsensusModelSphere</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::model_name_</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::radius_min_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::radius_max_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::error_sqr_dists_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">SampleConsensusModel&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::PointCloudPtr PointCloudPtr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SampleConsensusModelSphere&gt; Ptr;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_sphere.html#a71049a9fb705b3f1b91183d4cd0c0b6c">   80</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a71049a9fb705b3f1b91183d4cd0c0b6c">SampleConsensusModelSphere</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud,</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                                  <span class="keywordtype">bool</span> random = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (cloud, random), <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a3aef1458195095e8f28304faa955502f">tmp_inliers_</a> ()</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelSphere&quot;</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 4;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 4;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_sphere.html#a5fba67e38ae8feea6b5c56f28df3d2c2">   94</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a5fba67e38ae8feea6b5c56f28df3d2c2">SampleConsensusModelSphere</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud, </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                                  <span class="keywordtype">bool</span> random = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (cloud, indices, random), <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a3aef1458195095e8f28304faa955502f">tmp_inliers_</a> ()</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelSphere&quot;</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 4;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 4;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      </div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_sphere.html#a34387afb5de7276d38a7fa90b007e378">  105</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a34387afb5de7276d38a7fa90b007e378">~SampleConsensusModelSphere</a> () {}</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_sphere.html#acd62bc7fe3b3b9fab2341ceb2100357d">  110</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#acd62bc7fe3b3b9fab2341ceb2100357d">SampleConsensusModelSphere</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html">SampleConsensusModelSphere</a> &amp;source) :</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (), <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a3aef1458195095e8f28304faa955502f">tmp_inliers_</a> () </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        *<span class="keyword">this</span> = source;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelSphere&quot;</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html">SampleConsensusModelSphere</a>&amp;</div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_sphere.html#a08d9a1e9d3c0ea9805c560a761ffcec8">  121</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a08d9a1e9d3c0ea9805c560a761ffcec8">operator = </a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html">SampleConsensusModelSphere</a> &amp;source)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::operator=</a>(source);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a3aef1458195095e8f28304faa955502f">tmp_inliers_</a> = source.<a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a3aef1458195095e8f28304faa955502f">tmp_inliers_</a>;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#ad4766e4506ab02fbaa6ceb3c45246c4d">computeModelCoefficients</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;samples, </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                                Eigen::VectorXf &amp;model_coefficients);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a1f0410588a37c54f59bcdb134e60271f">getDistancesToModel</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                           std::vector&lt;double&gt; &amp;distances);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a56098aaebde421fa29e049bb66a3d779">selectWithinDistance</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">double</span> threshold, </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                            std::vector&lt;int&gt; &amp;inliers);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a9ffa1590305fad015963b9ebd731957e">countWithinDistance</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                           <span class="keyword">const</span> <span class="keywordtype">double</span> threshold);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#ab073f9b221725dd02cda6c767630cf01">optimizeModelCoefficients</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;inliers, </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                                 <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                                 Eigen::VectorXf &amp;optimized_coefficients);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#af7f6b178e95ea32daa18fd032d5ea0ac">projectPoints</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;inliers, </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                     <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;projected_points, </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                     <span class="keywordtype">bool</span> copy_data_fields = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a1092849a618dc5c81f3ee59c6f6e06bd">doSamplesVerifyModel</a> (<span class="keyword">const</span> std::set&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                            <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">double</span> threshold);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_sphere.html#abc35602e06fdf92f719577b04cf64e90">  201</a></span>&#160;      <span class="keyword">inline</span> pcl::SacModel <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#abc35602e06fdf92f719577b04cf64e90">getModelType</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (SACMODEL_SPHERE); }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::sample_size_</a>;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::model_size_</a>;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_sphere.html#a0a193f4d4ca8b49a72c3a413bc1e06ad">  211</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a0a193f4d4ca8b49a72c3a413bc1e06ad">isModelValid</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::isModelValid</a> (model_coefficients))</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_sample_consensus_model.html#a3e4708339fa0bc73aac513ddb1891a18">radius_min_</a> != -std::numeric_limits&lt;double&gt;::max() &amp;&amp; model_coefficients[3] &lt; <a class="code" href="classpcl_1_1_sample_consensus_model.html#a3e4708339fa0bc73aac513ddb1891a18">radius_min_</a>)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordflow">if</span> (radius_max_ != std::numeric_limits&lt;double&gt;::max() &amp;&amp; model_coefficients[3] &gt; radius_max_)</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#aa1fd67caaa8ca25ef0153526f35ea0f0">isSampleGood</a>(<span class="keyword">const</span> std::vector&lt;int&gt; &amp;samples) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_sphere.html#a3aef1458195095e8f28304faa955502f">  233</a></span>&#160;      <span class="keyword">const</span> std::vector&lt;int&gt; *<a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html#a3aef1458195095e8f28304faa955502f">tmp_inliers_</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="preprocessor">#if defined BUILD_Maintainer &amp;&amp; defined __GNUC__ &amp;&amp; __GNUC__ == 4 &amp;&amp; __GNUC_MINOR__ &gt; 3</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="preprocessor">#pragma GCC diagnostic ignored &quot;-Weffc++&quot;</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="structpcl_1_1_sample_consensus_model_sphere_1_1_optimization_functor.html">  238</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_sample_consensus_model_sphere_1_1_optimization_functor.html">OptimizationFunctor</a> : <a class="code" href="structpcl_1_1_functor.html">pcl::Functor</a>&lt;float&gt;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      {</div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="structpcl_1_1_sample_consensus_model_sphere_1_1_optimization_functor.html#a870aaa4a0581911c9d98fa2dc1a23194">  245</a></span>&#160;        <a class="code" href="structpcl_1_1_sample_consensus_model_sphere_1_1_optimization_functor.html#a870aaa4a0581911c9d98fa2dc1a23194">OptimizationFunctor</a> (<span class="keywordtype">int</span> m_data_points, <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html">pcl::SampleConsensusModelSphere&lt;PointT&gt;</a> *model) : </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          pcl::<a class="code" href="structpcl_1_1_functor.html">Functor</a>&lt;float&gt;(m_data_points), model_ (model) {}</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="structpcl_1_1_sample_consensus_model_sphere_1_1_optimization_functor.html#a0c51df64505d55a77e29dd202664c7e4">  254</a></span>&#160;        <a class="code" href="structpcl_1_1_sample_consensus_model_sphere_1_1_optimization_functor.html#a0c51df64505d55a77e29dd202664c7e4">operator() </a>(<span class="keyword">const</span> Eigen::VectorXf &amp;x, Eigen::VectorXf &amp;fvec)<span class="keyword"> const</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;          Eigen::Vector4f cen_t;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;          cen_t[3] = 0;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="structpcl_1_1_functor.html#a3f516c3ee42e37ab575b0231e0e93547">values</a> (); ++i)</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;          {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;            <span class="comment">// Compute the difference between the center of the sphere and the datapoint X_i</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            cen_t[0] = model_-&gt;input_-&gt;points[(*model_-&gt;tmp_inliers_)[i]].x - x[0];</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;            cen_t[1] = model_-&gt;input_-&gt;points[(*model_-&gt;tmp_inliers_)[i]].y - x[1];</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;            cen_t[2] = model_-&gt;input_-&gt;points[(*model_-&gt;tmp_inliers_)[i]].z - x[2];</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;            </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;            <span class="comment">// g = sqrt ((x-a)^2 + (y-b)^2 + (z-c)^2) - R</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;            fvec[i] = std::sqrt (cen_t.dot (cen_t)) - x[3];</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          }</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html">pcl::SampleConsensusModelSphere&lt;PointT&gt;</a> *model_;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      };</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="preprocessor">#if defined BUILD_Maintainer &amp;&amp; defined __GNUC__ &amp;&amp; __GNUC__ == 4 &amp;&amp; __GNUC_MINOR__ &gt; 3</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="preprocessor">#pragma GCC diagnostic warning &quot;-Weffc++&quot;</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;   };</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;}</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/impl/sac_model_sphere.hpp&gt;</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel</a></div><div class="ttdoc">SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...</div><div class="ttdef"><b>Definition:</b> sac_model.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_a3e4708339fa0bc73aac513ddb1891a18"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#a3e4708339fa0bc73aac513ddb1891a18">pcl::SampleConsensusModel::radius_min_</a></div><div class="ttdeci">double radius_min_</div><div class="ttdoc">The minimum and maximum radius limits for the model. Applicable to all models that estimate a radius.</div><div class="ttdef"><b>Definition:</b> sac_model.h:548</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_a64854cad238a0583093c446dc295f245"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">pcl::SampleConsensusModel::sample_size_</a></div><div class="ttdeci">unsigned int sample_size_</div><div class="ttdoc">The size of a sample from which the model is computed. Every subclass should initialize this appropri...</div><div class="ttdef"><b>Definition:</b> sac_model.h:572</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab10fd6af7c7ab78040d4f638a572943f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">pcl::SampleConsensusModel::model_name_</a></div><div class="ttdeci">std::string model_name_</div><div class="ttdoc">The model name.</div><div class="ttdef"><b>Definition:</b> sac_model.h:534</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab7f51bf1c63fcfb05694d0f19c2f7dc3"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">pcl::SampleConsensusModel::model_size_</a></div><div class="ttdeci">unsigned int model_size_</div><div class="ttdoc">The number of coefficients in the model. Every subclass should initialize this appropriately.</div><div class="ttdef"><b>Definition:</b> sac_model.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html">pcl::SampleConsensusModelSphere</a></div><div class="ttdoc">SampleConsensusModelSphere defines a model for 3D sphere segmentation. The model coefficients are def...</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_a08d9a1e9d3c0ea9805c560a761ffcec8"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#a08d9a1e9d3c0ea9805c560a761ffcec8">pcl::SampleConsensusModelSphere::operator=</a></div><div class="ttdeci">SampleConsensusModelSphere &amp; operator=(const SampleConsensusModelSphere &amp;source)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_a0a193f4d4ca8b49a72c3a413bc1e06ad"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#a0a193f4d4ca8b49a72c3a413bc1e06ad">pcl::SampleConsensusModelSphere::isModelValid</a></div><div class="ttdeci">virtual bool isModelValid(const Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Check whether a model is valid given the user constraints.</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:211</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_a1092849a618dc5c81f3ee59c6f6e06bd"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#a1092849a618dc5c81f3ee59c6f6e06bd">pcl::SampleConsensusModelSphere::doSamplesVerifyModel</a></div><div class="ttdeci">bool doSamplesVerifyModel(const std::set&lt; int &gt; &amp;indices, const Eigen::VectorXf &amp;model_coefficients, const double threshold)</div><div class="ttdoc">Verify whether a subset of indices verifies the given sphere model coefficients.</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.hpp:281</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_a1f0410588a37c54f59bcdb134e60271f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#a1f0410588a37c54f59bcdb134e60271f">pcl::SampleConsensusModelSphere::getDistancesToModel</a></div><div class="ttdeci">void getDistancesToModel(const Eigen::VectorXf &amp;model_coefficients, std::vector&lt; double &gt; &amp;distances)</div><div class="ttdoc">Compute all distances from the cloud data to a given sphere model.</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.hpp:122</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_a34387afb5de7276d38a7fa90b007e378"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#a34387afb5de7276d38a7fa90b007e378">pcl::SampleConsensusModelSphere::~SampleConsensusModelSphere</a></div><div class="ttdeci">virtual ~SampleConsensusModelSphere()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:105</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_a3aef1458195095e8f28304faa955502f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#a3aef1458195095e8f28304faa955502f">pcl::SampleConsensusModelSphere::tmp_inliers_</a></div><div class="ttdeci">const std::vector&lt; int &gt; * tmp_inliers_</div><div class="ttdoc">Temporary pointer to a list of given indices for optimizeModelCoefficients ()</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:233</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_a56098aaebde421fa29e049bb66a3d779"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#a56098aaebde421fa29e049bb66a3d779">pcl::SampleConsensusModelSphere::selectWithinDistance</a></div><div class="ttdeci">void selectWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold, std::vector&lt; int &gt; &amp;inliers)</div><div class="ttdoc">Select all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.hpp:151</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_a5fba67e38ae8feea6b5c56f28df3d2c2"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#a5fba67e38ae8feea6b5c56f28df3d2c2">pcl::SampleConsensusModelSphere::SampleConsensusModelSphere</a></div><div class="ttdeci">SampleConsensusModelSphere(const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</div><div class="ttdoc">Constructor for base SampleConsensusModelSphere.</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_a71049a9fb705b3f1b91183d4cd0c0b6c"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#a71049a9fb705b3f1b91183d4cd0c0b6c">pcl::SampleConsensusModelSphere::SampleConsensusModelSphere</a></div><div class="ttdeci">SampleConsensusModelSphere(const PointCloudConstPtr &amp;cloud, bool random=false)</div><div class="ttdoc">Constructor for base SampleConsensusModelSphere.</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:80</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_a9ffa1590305fad015963b9ebd731957e"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#a9ffa1590305fad015963b9ebd731957e">pcl::SampleConsensusModelSphere::countWithinDistance</a></div><div class="ttdeci">virtual int countWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold)</div><div class="ttdoc">Count all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.hpp:194</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_aa1fd67caaa8ca25ef0153526f35ea0f0"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#aa1fd67caaa8ca25ef0153526f35ea0f0">pcl::SampleConsensusModelSphere::isSampleGood</a></div><div class="ttdeci">bool isSampleGood(const std::vector&lt; int &gt; &amp;samples) const</div><div class="ttdoc">Check if a sample of indices results in a good sample of points indices.</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_ab073f9b221725dd02cda6c767630cf01"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#ab073f9b221725dd02cda6c767630cf01">pcl::SampleConsensusModelSphere::optimizeModelCoefficients</a></div><div class="ttdeci">void optimizeModelCoefficients(const std::vector&lt; int &gt; &amp;inliers, const Eigen::VectorXf &amp;model_coefficients, Eigen::VectorXf &amp;optimized_coefficients)</div><div class="ttdoc">Recompute the sphere coefficients using the given inlier set and return them to the user.</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.hpp:225</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_abc35602e06fdf92f719577b04cf64e90"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#abc35602e06fdf92f719577b04cf64e90">pcl::SampleConsensusModelSphere::getModelType</a></div><div class="ttdeci">pcl::SacModel getModelType() const</div><div class="ttdoc">Return an unique id for this model (SACMODEL_SPHERE).</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_acd62bc7fe3b3b9fab2341ceb2100357d"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#acd62bc7fe3b3b9fab2341ceb2100357d">pcl::SampleConsensusModelSphere::SampleConsensusModelSphere</a></div><div class="ttdeci">SampleConsensusModelSphere(const SampleConsensusModelSphere &amp;source)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:110</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_ad4766e4506ab02fbaa6ceb3c45246c4d"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#ad4766e4506ab02fbaa6ceb3c45246c4d">pcl::SampleConsensusModelSphere::computeModelCoefficients</a></div><div class="ttdeci">bool computeModelCoefficients(const std::vector&lt; int &gt; &amp;samples, Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Check whether the given index samples can form a valid sphere model, compute the model coefficients f...</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.hpp:56</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html_af7f6b178e95ea32daa18fd032d5ea0ac"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html#af7f6b178e95ea32daa18fd032d5ea0ac">pcl::SampleConsensusModelSphere::projectPoints</a></div><div class="ttdeci">void projectPoints(const std::vector&lt; int &gt; &amp;inliers, const Eigen::VectorXf &amp;model_coefficients, PointCloud &amp;projected_points, bool copy_data_fields=true)</div><div class="ttdoc">Create a new point cloud with inliers projected onto the sphere model.</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.hpp:258</div></div>
<div class="ttc" id="astructpcl_1_1_functor_html"><div class="ttname"><a href="structpcl_1_1_functor.html">pcl::Functor</a></div><div class="ttdef"><b>Definition:</b> sac_model.h:654</div></div>
<div class="ttc" id="astructpcl_1_1_functor_html_a3f516c3ee42e37ab575b0231e0e93547"><div class="ttname"><a href="structpcl_1_1_functor.html#a3f516c3ee42e37ab575b0231e0e93547">pcl::Functor&lt; float &gt;::values</a></div><div class="ttdeci">int values() const</div><div class="ttdoc">Get the number of values.</div><div class="ttdef"><b>Definition:</b> sac_model.h:678</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_sample_consensus_model_sphere_1_1_optimization_functor_html"><div class="ttname"><a href="structpcl_1_1_sample_consensus_model_sphere_1_1_optimization_functor.html">pcl::SampleConsensusModelSphere::OptimizationFunctor</a></div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:239</div></div>
<div class="ttc" id="astructpcl_1_1_sample_consensus_model_sphere_1_1_optimization_functor_html_a0c51df64505d55a77e29dd202664c7e4"><div class="ttname"><a href="structpcl_1_1_sample_consensus_model_sphere_1_1_optimization_functor.html#a0c51df64505d55a77e29dd202664c7e4">pcl::SampleConsensusModelSphere::OptimizationFunctor::operator()</a></div><div class="ttdeci">int operator()(const Eigen::VectorXf &amp;x, Eigen::VectorXf &amp;fvec) const</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:254</div></div>
<div class="ttc" id="astructpcl_1_1_sample_consensus_model_sphere_1_1_optimization_functor_html_a870aaa4a0581911c9d98fa2dc1a23194"><div class="ttname"><a href="structpcl_1_1_sample_consensus_model_sphere_1_1_optimization_functor.html#a870aaa4a0581911c9d98fa2dc1a23194">pcl::SampleConsensusModelSphere::OptimizationFunctor::OptimizationFunctor</a></div><div class="ttdeci">OptimizationFunctor(int m_data_points, pcl::SampleConsensusModelSphere&lt; PointT &gt; *model)</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:245</div></div>
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